Medical robot trolley
By setting up an inclined touch screen and hollow annular handrail on the medical robot trolley, and connecting the protruding parts and cross beams, the problem of lack of touch screen and space occupation in the prior art is solved, and more efficient operation space utilization is achieved and visual comfort.
Patent Information
- Application Number
- CN202420716782.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-09
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2034-04-09
AI Technical Summary
The existing minimally invasive surgical robots lack touch screens from operating equipment, and the handrail of the supporting equipment is arranged on the side of the equipment, occupying a large amount of surgical space, affecting operation efficiency and space utilization.
A medical robot trolley was designed. The trolley was equipped with a touch screen and a hollow ring handrail. The touch screen was tilted. The handrail and the fixing parts of the trolley were connected through protrusions and cross beams to form a smooth appearance to avoid fixing. The plates and screws are exposed to meet the doctor's visual habits and operating needs.
Through this design, the smooth connection between the handrail and the touch screen is achieved, the exposed fixed parts are reduced, the utilization rate of the operating space and visual comfort are improved, and the doctor's support operation is facilitated.
Smart Images
Figure CN222265386U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of medical devices, and in particular to a medical robot trolley. Background Art
[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include a master console and a slave operating device. The master console sends control commands to the slave operating device according to the doctor's operation to control the slave operating device. The slave operating device responds to the control commands sent by the master console and uses the robotic arm to drive the surgical instrument to perform surgery.
[0004] An existing sub-operating device of a surgical robot does not have a touch screen, and an armrest of the sub-operating device for supporting the device is arranged on the side of the device, which occupies a large surgical space. Utility Model Content
[0005] Based on this, in order to solve the above problems, the present application provides a medical robot trolley whose settings of touch screen and armrests conform to the doctor's visual habits and are easy to move and operate.
[0006] One aspect of an embodiment of the present application provides a medical robot trolley, which includes a trolley body and a robotic arm located in front of the trolley body, a touch screen is provided on the upper surface of the trolley body, a hollow annular armrest is provided on the periphery of the trolley body, the trolley body also includes a first side shell and a second side shell arranged opposite to the first side shell, the first side shell and the second side shell are respectively provided with a fixing part, the touch screen has a shell, a part of the shell is close to the inner side of the first side shell and the second side shell and is fixed to the fixing part, and the two opposite inner sides of the armrest have protrusions, and the protrusions cover the fixing part.
[0007] In a specific embodiment, an inclined crossbeam is provided below the touch screen, the first side shell and the second side shell are respectively provided with transverse through holes, the crossbeam passes through the transverse through holes, the fixing portion is provided at both ends of the transverse through holes, and the protruding portion of the armrest is fixedly connected to the crossbeam.
[0008] In a specific embodiment, the trolley body also includes a back shell, which is nested with the shell of the touch screen, and the shell of the touch screen includes a shell body surrounding the touch screen and a bracket supporting the shell body, and the two opposite sides of the bracket are close to the inner sides of the first side shell and the second side shell, and the fixing part includes a fixing plate arranged on the inner side of the transverse through-holes of the first side shell and the second side shell, and screws entering from the transverse through-holes, passing through the fixing plate and fixed to the two opposite sides of the bracket, and the length of the protrusion is greater than or equal to the length of the transverse through-hole so as to cover the screw from the outside.
[0009] In a specific embodiment, the first side shell and the second side shell are respectively provided with vertical through holes below the transverse through holes, a driving component is provided inside the trolley body, the robotic arm is fixed to an annular bracket, one side of the annular bracket is relatively fixed to the driving component and is driven up and down by the driving component, and both ends of the side of the annular bracket extend out of the vertical through holes to enable the robotic arm to move up and down along the vertical through holes.
[0010] In a specific embodiment, the trolley body also includes a front shell, the trolley body includes a base, the base has a base shell, three sides of the base shell are respectively provided with slots, the first side shell, the second side shell and the front shell are respectively inserted into the slots, and the back shell is fixed to the base by passing through the base shell through pins.
[0011] In a specific embodiment, a hanging nail is provided on the inner side of the front shell of the trolley body, a column is provided inside the trolley body, the column is provided with a hanging hole, and the hanging nail is hung in the hanging hole.
[0012] In a specific embodiment, a heat sink is provided between the interior of the trolley body and the back shell, the heat sink is fixedly connected to the first side shell and the second side shell, and the power interfaces of the trolley body are all located on the same side of the heat sink.
[0013] In a specific embodiment, the inner sides of the first side shell and the second side shell near the end have an inclined abutment portion that abuts against the edge of the touch screen, so that the touch screen is tilted upward by 13°-17° from the back of the trolley body to the front of the trolley body.
[0014] In a specific embodiment, the armrest is located below the touch screen, the distance between the upper surface of the armrest and the surface of the touch screen is 30-50 mm, and the upper surface of the armrest is parallel to the surface of the touch screen.
[0015] In a specific embodiment, the bottom of the trolley body has wheels, and the backup power supply is placed in the space defined between the wheels.
[0016] In a specific embodiment, the bottom of the trolley body is provided with an electric support foot that is extended or retracted by electric control, and the bottom of the electric support foot is provided with a rubber pad.
[0017] The medical robot trolley of the present application has at least the following beneficial effects:
[0018] The protruding portion of the armrest covers the fixing portions of the touch screen and the first side shell and the second side shell, so that the connection is smooth in appearance without exposure of fixing plates, screws, etc. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 is a schematic diagram of a partial explosion of the medical robot trolley provided in an embodiment of the present application when the robot arm is not assembled;
[0020] Figure 2 yes Figure 1 Schematic diagram of the shell separation of the medical robot trolley;
[0021] Figure 3 yes Figure 2 A schematic diagram of a touch screen module;
[0022] Figure 4 yes Figure 1 A partial schematic diagram of the medical robot trolley after the mechanical arm is assembled and the side shell is removed;
[0023] Figure 5 yes Figure 2 A schematic diagram of the inner side of the back shell of ;
[0024] Figure 6 yes Figure 2 A schematic diagram of the inner side of the front shell;
[0025] Figure 7 yes Figure 1 A schematic diagram of a base shell of a medical robot trolley;
[0026] Figure 8 yes Figure 1 A partial schematic diagram of the medical robot trolley after the bottom side panels of the base are disassembled.
[0027] The components in the figure are labeled as follows:
[0028] Trolley body 10 mechanical arm 20 touch screen 110 handrail 120 annular bracket 15 crossbeam 121 inclined table 122 first side shell 130 second side shell 140 transverse through hole 131 protrusion 123 bracket 112 side screw hole 114 end screw hole 115 avoidance hole 117 slot 116, 145 fixing plate 16 column 17 driving component 18 motor 19 reducer 19a
[0029] Back shell 160 Metal sheet 162 Front shell 150 Hanging nail 152 Base 14 Base shell 142 Perforation 146 Power socket 165 Wheel 11 Backup power supply 12 Electric support foot 13 Side plate 12a
[0030] Power interface 172 Pin 168 Avoidance hole 147 Abutment portion 133 Touch screen edge 114 DETAILED DESCRIPTION
[0031] To facilitate understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings.
[0032] The preferred embodiments of the present application are shown in the accompanying drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly understood.
[0033] It should be noted that when an element is referred to as "arranged on" another element, it can be directly on another element or there can also be a centered element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it can be directly coupled to another element or there may be a centered element at the same time. The so-called "engagement" herein refers to the connection of two elements with power transmission. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are only for the purpose of illustration and are not intended to be the only embodiment. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the drawings. For example, if the device is flipped in the drawings, the elements or features described as "below" or "below" other elements or features will be oriented to be "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.
[0034] The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. "Coupling" used herein can be broadly understood as any event in which two or more objects are connected in a way that allows the absolutely coupled objects to operate together with each other, so that there is no relative movement between the objects in at least one direction, such as the coupling of a protrusion and a groove, which can move relative to each other in the radial direction but not in the axial direction.
[0035] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument comprising an end effector, which may be a surgical tool for performing a surgical procedure, such as an electrocautery, a clamp, a stapler, a shear, an imaging device, such as an endoscope or an ultrasound probe, and the like. The end effector may also provide an articulated component, such as a joint assembly, so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Further, the end effector also includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include storage information that can be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the instrument and one or more system elements.
[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "and / or" and "and / or" used herein include any and all combinations of one or more related listed items.
[0037] See also Figure 1 The medical robot trolley provided in the embodiment of the present application includes a trolley body 10 and a mechanical arm connected to a ring bracket 15 on the front side of the trolley body 10 (see Figure 4The robot arm 20). A touch screen 110 is provided on the upper surface of the trolley body 10, and a hollow annular handrail 120 is provided on the periphery of the trolley body 10. Specifically, in order to better conform to the visual habits and operating habits of ergonomics, the touch screen 110 is tilted upward from the back of the trolley body 10 to the front of the trolley body 10, and the handrail 120 is also tilted upward from the back of the trolley body 10 to the front of the trolley body 10. The handrail 120 is located below the touch screen 110, and the upper surface of the handrail 120 is 30-50 mm away from the surface of the touch screen 110, for example, a distance of about 40 mm is the best comfort for operation.
[0038] Please also read Figure 2 , a crossbeam 121 is arranged below the touch screen 110, and the crossbeam 121 is arranged on an inclined table 122. The trolley body 10 includes a first side shell 130 and a second side shell 140 arranged opposite to the first side shell 130, and the first side shell 130 and the second side shell 140 are respectively provided with transverse through holes 131, and the crossbeam 121 passes through the transverse through holes 131. The two opposite inner sides of the handrail 120 have protrusions 123, and the protrusions 123 are fixedly connected to the crossbeam 121, so that the protrusions 123 also form a beam-type handrail. The length of the protrusion 123 is less than the length of the side length of the handrail 120, so that the handrail 120 can still be held from the four sides of the handrail 120, so that the handrail 120 can be supported in all directions. Due to the inclined table 122, the armrest 120 is inclined, and its inclination angle can be the same as the inclination angle of the touch screen 110, for example, between 13° and 17°, and in particular, an inclination of 15° is more comfortable. The armrest 120 and the touch screen 110 have the same inclination angle, that is, they are parallel, and in particular, the upper surface of the armrest 120 is parallel to the surface of the touch screen 110.
[0039] Please also read Figure 3The touch screen 110 and the bracket 112 below form a touch screen module. The bracket 112 is a metal sheet, and its two opposite sides are provided with side screw holes 114, and the end face connected to the side is provided with an end face screw hole 115. The end face is also provided with an avoidance hole 117 for avoiding the inner side fixing part of the back shell 160, and a slot 116 for nesting with the back shell 160 of the trolley body 10. During installation, the two opposite sides of the bracket 112 are close to the inner sides of the first side shell 130 and the second side shell 140. The inner sides of the transverse through holes 131 of the first side shell 130 and the second side shell 140 are provided with fixing plates 16. The fixing plates 16 are fixed to the screw holes 114 on the two opposite sides of the bracket 112 by screws entering from the transverse through holes 131. The length of the protrusion 123 of the handrail 120 is substantially equal to or greater than the length of the transverse through holes 131 to cover the fixing screws of the bracket 112 from the outside, so that no fixing plates and screws are exposed in appearance. The end face screw holes 115 can be used for screws to be inserted to be fixed on the body of the trolley body 10. The first side shell 130 and the second side shell 140 have an inclined abutment portion 133 near the end portion thereof to abut against the edge 114 of the touch screen 110. The inclination angle of the abutment portion 133 is the same as the required inclination angle of the touch screen 110, thereby maintaining the touch screen 110 at a predetermined inclination angle.
[0040] In this embodiment, the touch screen 110 is a liquid crystal screen, which has a shell body. The edge 114 of the touch screen 110 can be a slightly protruding edge formed at the connection between the shell body and the bracket 112, or the irregular bracket 112 has a slightly protruding edge, which only needs to be suitable for abutting against the abutting portion 133 of the first side shell 130 and the second side shell 140. The abutting portion 133 of the first side shell 130 and the second side shell 140 can be a protrusion integrally formed with the shell, or an inner plate edge that is separately formed and then fixed.
[0041] Please refer again Figure 2 In this embodiment, the fixing plate 16 is a whole metal plate on the inner side of the first side shell 130 and the second side shell 140. The outer side of the first side shell 130 and the second side shell 140 can be a plastic plate, and the metal plate can be a metal sheet fixed on the inner side of the plastic plate. The transverse perforation 131 can be longer in the plastic plate and shorter in the metal plate, that is, the transverse perforation 131 is a stepped perforation, and the crossbeam 121 can pass through the perforation of the metal plate and the perforation of the plastic plate. The screws entering from the perforation of the plastic plate pass through the metal plate and are fixed to the screw holes 114 on the two opposite sides of the bracket 112.
[0042] After the touch screen 110 and the bracket 112 are fixed in the above-mentioned fixed position, they can present an inclination from the back side to the front side of the trolley body 10. The back shell 160 of the trolley body 10 is inserted from the bottom to the top into the slot 116 of the touch screen 110. The back shell 160 also makes the bracket 112 look without exposed screws. The touch screen 110 can be used to set the motion parameters of the medical robot trolley or some parameters of the surgical instrument. In actual use, a handle can also be added to allow the doctor to actively control the motion of the medical robot trolley and its surgical instruments.
[0043] Please also read Figure 4 The body of the trolley body 10 is provided with a column 17, on which a driving component 18, a motor 19 and a reducer 19a connected to the screw driving component 18 are fixed. The mechanical arm 20 is fixed on the annular bracket 15, and the annular bracket 15 is a square shape to enhance the stability of the bracket. The inner side of the square shape is fixed on the driving component 18, and the two ends extend out of the vertical through holes 132 (see FIG. 132 ) of the first side shell 130 and the second side shell 140. Figure 1 ). The robot arm 20 is fixed on the outer side of the mouth shape. The driving component 18 can be, for example, a screw driving component, or other drivers, used to drive the robot arm 20 to move up and down together with the annular bracket 15, so that the robot arm 20 has the freedom to move up and down. The end of the robot arm 20 has a driver 21, which is used to connect surgical instruments (not shown) and drive the surgical instruments to perform surgical work. The surgical instruments may include catheters, biopsy needles, catheter-type endoscopes, etc. In this embodiment, the robot arm 20 includes two, and the two robot arms 20 are both fixed on the annular bracket 15. The two robot arms 20 themselves have multiple joints, which can provide the robot arm 20 with the freedom to move left and right. The vertical through hole 132 of the first side shell 130 and the second side shell 140 plays a role in limiting the path in the vertical direction, and the vertical through hole 132 extends downward from the upper position of the first side shell 130 and the second side shell 140 to the bottom. The vertical through holes 132 of the first side shell 130 and the second side shell 140 can be directly inserted into the inner side of the U-shaped ring bracket 15 .
[0044] Please refer again Figure 2 The body of the trolley body 10 is provided with hardware such as a controller, which is close to the back of the trolley body 10, so a heat sink 170 is provided between the body and the back shell 160. The heat sink 170 is provided with heat dissipation mesh holes, and the heat sink 170 is fixedly connected to the first side shell 130 and the second side shell 140. The power supply interface 172 of the trolley body 10 is located on the same side of the heat sink 170, so that the wiring is neat. Please refer to Figure 5The inner side of the back shell 160 is provided with a metal sheet 162, which can make the back shell 160 spaced a certain distance from the heat sink 170 when assembled to facilitate heat dissipation. The back shell 160 is also provided with a power socket 165, and the power interface 172 of the trolley body 10 can be located in the power socket 165. The inner side of the back shell 160 is also provided with a fixing pin 168.
[0045] See also Figure 6 The trolley body 10 also includes a front shell 150, the inner side of which has a protruding nail 152, and the inner body column of the trolley body 150 is provided with a hanging hole (not shown) on the side facing the front shell 150, and the nail 152 is used to hang on the hanging hole, so that no screws are exposed from the outside of the front shell 150.
[0046] Please also read Figure 1 and Figure 7 The trolley body 10 has a base 14, and the base 14 has a base shell 142. The base shell 142 has a through hole 146 in the middle corresponding to the body of the trolley body 10. The through hole 146 is used to correspond to the body of the trolley body 10, so that the base shell 142 can be directly inserted downward from the upper end of the trolley body 10 and fixed on the base 14. Slots 145 are provided on the three sides of the base shell 142, and the first side shell 130, the second side shell 140 and the front shell 150 are respectively inserted into the slots 145. The base shell 142 also has an avoidance hole 147 for inserting the pin 168 of the back shell 160, so as to further lock the pin 168 of the back shell 160 through screws, bumps, etc. that penetrate upward from the bottom surface of the base 14, so that no retaining screws are exposed on the appearance of the back shell 160.
[0047] The housings, touch screen module and armrest 120 of the above-mentioned trolley body 10 can be assembled in the following order: first assemble the base housing 142, then assemble the front housing 150, the first side housing 130 and the second side housing 140, and the heat sink 170, then assemble the entire touch screen module of the touch screen 110 and the bracket 112, then assemble the back housing 160, and finally assemble the armrest 120. According to the assembly method provided in the embodiment of the present application, there are basically no screws exposed on the appearance of the trolley body 10.
[0048] See also Figure 8The bottom of the trolley body 10 has wheels 11, and a backup power supply 12 is placed in the space defined between the wheels 11. The bottom of the trolley body 10 is also provided with an electric support foot 13 that can be extended or retracted by electric control. A rubber pad can be provided at the bottom of the electric support foot 13. When the trolley needs to stop, the electric support foot 13 can be extended according to control to help stabilize the trolley, and the rubber pad can play an anti-slip role. The side panel 12a is installed on the outside of the backup power supply 12, and the side panel 12a can be inserted into the slot of the base shell 142 from bottom to top, and the side panel 12a can also be provided with a heat dissipation mesh.
[0049] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0050] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.
Claims
1. A medical robot trolley, comprising a trolley body and a mechanical arm mounted on the front of the trolley body, characterized in that: A touch screen is provided on the upper surface of the trolley body, and a hollow annular handrail is provided on the periphery of the trolley body. The trolley body also includes a first side shell and a second side shell arranged opposite to the first side shell, the first side shell and the second side shell are respectively provided with a fixing part, the touch screen has a shell, a part of the shell is close to the inner side of the first side shell and the second side shell and is fixed to the fixing part, and the two opposite inner sides of the handrail have protrusions, and the protrusions cover the fixing part.
2. The medical robot trolley according to claim 1, characterized in that: An inclined crossbeam is arranged below the touch screen, the first side shell and the second side shell are respectively provided with transverse through holes, the crossbeam passes through the transverse through holes, the fixing parts are arranged at both ends of the transverse through holes, and the protruding part of the armrest is fixedly connected to the crossbeam.
3. The medical robot trolley according to claim 2, characterized in that: The trolley body also includes a back shell, which is nested with the shell of the touch screen. The shell of the touch screen includes a shell body surrounding the touch screen and a bracket supporting the shell body. The two opposite sides of the bracket are close to the inner sides of the first side shell and the second side shell. The fixing part includes a fixing plate arranged on the inner side of the transverse through-holes of the first side shell and the second side shell, and screws entering from the transverse through-holes, passing through the fixing plate and fixed to the two opposite sides of the bracket. The length of the protrusion is greater than or equal to the length of the transverse through-hole so as to cover the screw from the outside.
4. The medical robot trolley according to claim 2, characterized in that: The first side shell and the second side shell are respectively provided with vertical through holes below the transverse through holes, a driving component is provided inside the trolley body, the robotic arm is fixed to an annular bracket, one side of the annular bracket is relatively fixed to the driving component and is driven up and down by the driving component, and both ends of the side of the annular bracket extend out of the vertical through holes to enable the robotic arm to move up and down along the vertical through holes.
5. The medical robot trolley according to claim 3, characterized in that: The trolley body also includes a front shell, the trolley body includes a base, the base has a base shell, the three sides of the base shell are respectively provided with slots, the first side shell, the second side shell and the front shell are respectively inserted into the slots, and the back shell is fixed to the base by passing through the base shell through pins.
6. The medical robot trolley according to claim 5, characterized in that: A hanging nail is arranged on the inner side of the front shell, a column is arranged inside the trolley body, the column is provided with a hanging hole, and the hanging nail is hung in the hanging hole.
7. The medical robot trolley according to claim 3, characterized in that: A heat sink is provided between the interior of the trolley body and the back shell, the heat sink is fixedly connected to the first side shell and the second side shell, and the power interfaces of the trolley body are all located on the same side of the heat sink.
8. The medical robot trolley according to claim 1, characterized in that: The first side shell and the second side shell have an inclined abutting portion near the end on the inner side thereof to abut against the edge of the touch screen, so that the touch screen is tilted upward by 13°-17° from the back side of the trolley body to the front side of the trolley body.
9. The medical robot trolley according to claim 2, characterized in that: The armrest is located below the touch screen, the distance between the upper surface of the armrest and the surface of the touch screen is 30-50 mm, and the upper surface of the armrest is parallel to the surface of the touch screen.
10. The medical robot trolley according to claim 1, characterized in that: The bottom of the trolley body is provided with wheels, and a backup power supply is placed in the space defined between the wheels; and the bottom of the trolley body is provided with electric support feet that can be extended or retracted by electric control, and the bottom of the electric support feet is provided with rubber pads.